| ---
|
| license: apache-2.0
|
| task_categories:
|
| - robotics
|
| - time-series-forecasting
|
| language:
|
| - en
|
| tags:
|
| - lerobot
|
| - robotics
|
| - reachy2
|
| - imitation-learning
|
| - action-state
|
| - video
|
| - tsfile
|
| pretty_name: reachy_wave TsFile
|
| ---
|
|
|
| # reachy_wave
|
|
|
| This repository contains a TsFile conversion of the original Hugging Face
|
| dataset [`aliberts/reachy_wave`](https://huggingface.co/datasets/aliberts/reachy_wave).
|
|
|
| ## Source Dataset
|
|
|
| The source repository is a LeRobot v2.0 dataset for a Reachy2 robot. The task is:
|
|
|
| > When you see someone, look at them and wave
|
|
|
| Source structure:
|
|
|
| ```text
|
| data/chunk-000/episode_000000.parquet
|
| data/chunk-000/episode_000001.parquet
|
| data/chunk-000/episode_000002.parquet
|
| data/chunk-000/episode_000003.parquet
|
| data/chunk-000/episode_000004.parquet
|
| meta/episodes.jsonl
|
| meta/info.json
|
| meta/stats.json
|
| meta/tasks.jsonl
|
| videos/chunk-000/observation.images.head_left/episode_000000.mp4
|
| ...
|
| videos/chunk-000/observation.images.head_left/episode_000004.mp4
|
| ```
|
|
|
| Source metadata:
|
|
|
| - Robot type: `reachy2`
|
| - Episodes: 5
|
| - Frames: 1,380
|
| - Tasks: 1
|
| - FPS: 15
|
| - Videos: 5
|
| - Video key: `observation.images.head_left`
|
|
|
| ## Converted Structure
|
|
|
| ```text |
| data/chunk-000/episode_000000.tsfile |
| data/chunk-000/episode_000001.tsfile |
| data/chunk-000/episode_000002.tsfile |
| data/chunk-000/episode_000003.tsfile |
| data/chunk-000/episode_000004.tsfile |
| meta/episodes.jsonl |
| meta/info.json |
| meta/stats.json |
| meta/tasks.jsonl |
| videos/chunk-000/observation.images.head_left/episode_000000.mp4
|
| ...
|
| videos/chunk-000/observation.images.head_left/episode_000004.mp4
|
| ```
|
|
|
| The `meta/` and `videos/` directories are mirrored unchanged from the source
|
| repository for traceability. The TsFile conversion uses only the Parquet data.
|
|
|
| ## Source Schema and Conversion
|
|
|
| The source Parquet rows contain:
|
|
|
| | Column | Source type | Conversion |
|
| |---|---|---|
|
| | `action` | float32[22] | flattened to `action_0` ... `action_21` |
|
| | `observation.state` | float32[22] | flattened to `state_0` ... `state_21` |
|
| | `timestamp` | float32 seconds | preserved as `episode_timestamp_s`; also used for TsFile `Time` |
|
| | `frame_index` | int64 | FIELD |
|
| | `episode_index` | int64 | FIELD and source for `episode_id` TAG |
|
| | `index` | int64 | renamed to `sample_index` FIELD |
|
| | `task_index` | int64 | FIELD and source for `task_id` TAG |
|
|
|
| TsFile details:
|
|
|
| - Output files: `data/chunk-000/episode_000000.tsfile` through `data/chunk-000/episode_000004.tsfile` |
| - Table name: `reachy_wave`
|
| - TAG columns: `episode_id`, `task_id`
|
| - Time precision: milliseconds
|
| - `Time`: `round(timestamp * 1000)`
|
| - Row count preserved: 1,380 source rows -> 1,380 TsFile rows across 5 per-episode files
|
|
|
| ## Feature Names
|
|
|
| Both `action` and `observation.state` use the same 22 dimensions from the source
|
| metadata:
|
|
|
| ```text
|
| 0 neck_yaw.pos
|
| 1 neck_pitch.pos
|
| 2 neck_roll.pos
|
| 3 r_shoulder_pitch.pos
|
| 4 r_shoulder_roll.pos
|
| 5 r_elbow_yaw.pos
|
| 6 r_elbow_pitch.pos
|
| 7 r_wrist_roll.pos
|
| 8 r_wrist_pitch.pos
|
| 9 r_wrist_yaw.pos
|
| 10 r_gripper.pos
|
| 11 l_shoulder_pitch.pos
|
| 12 l_shoulder_roll.pos
|
| 13 l_elbow_yaw.pos
|
| 14 l_elbow_pitch.pos
|
| 15 l_wrist_roll.pos
|
| 16 l_wrist_pitch.pos
|
| 17 l_wrist_yaw.pos
|
| 18 l_gripper.pos
|
| 19 mobile_base.vx
|
| 20 mobile_base.vy
|
| 21 mobile_base.vtheta
|
| ```
|
|
|
| ## Viewer Note
|
|
|
| Hugging Face Dataset Viewer may not preview `.tsfile` files because the hosted |
| viewer environment must have TsFile support installed. Download the per-episode |
| TsFile files under `data/chunk-000/` and read them with a TsFile-compatible |
| reader. |
|
|
| ## Citation
|
|
|
| Please cite the original dataset:
|
|
|
| ```bibtex
|
| @dataset{reachy_wave,
|
| author = {aliberts},
|
| title = {reachy_wave},
|
| publisher = {Hugging Face},
|
| url = {https://huggingface.co/datasets/aliberts/reachy_wave}
|
| }
|
| ```
|
|
|
